Vehicle control device, vehicle control method, and vehicle control program

Abstract

To provide a vehicle control device, a vehicle control method, and a vehicle control program that can improve an efficiency of avoidance actions by suppressing the avoidance actions that are wasteful for a self vehicle.SOLUTION: A vehicle control device includes: a route generation unit 10 that generates a driving route based on detection data of a driving state of a self vehicle; a surrounding object detection unit 20 that detects surrounding objects based on the detection data of an external environmental state of the self vehicle; a vehicle behavior simulation unit 30 that estimates in advance avoidance actions that the surrounding objects will take to avoid the self vehicle in accordance with the future actions of the self vehicle based on the outputs from the route generation unit 10 and the surrounding object detection unit 20, and simulates a plurality of future vehicle behaviors of the self vehicle; and a vehicle control unit 40 that determines a vehicle control content based on a simulation result by the vehicle behavior simulation unit 30.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device, a vehicle control method, and a vehicle control program. [Background technology]

[0002] Conventionally, technologies have been developed that predict the movement of vehicles around the vehicle and control the vehicle while taking into account the future degree of danger. This type of technology detects obstacles to the vehicle, calculates the degree of risk to the vehicle from the obstacle, and controls the operation of vehicle devices to prompt the driver to perform driving operations to avoid the obstacle based on the degree of risk.

[0003] In addition, a technology for optimal avoidance control in an emergency involves creating an environmental map that detects obstacles such as pedestrians and other vehicles based on the external environment, such as the front, rear, left and right of the vehicle and road conditions, creating a time to collision (TTC) map from the present to the future based on the environmental map, and estimating multiple avoidance actions for the vehicle to avoid the obstacles based on the risk map and the driving state of the vehicle. The collision damage is estimated for each of these estimated avoidance actions, and the vehicle is controlled to select the optimal avoidance action based on the collision damage that takes into account the possibility of a new obstacle appearing from a blind spot area of ​​the environmental map and interfering with the estimated avoidance action (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 4760715 Summary of the Invention [Problem to be solved by the invention]

[0005] Conventional technology predicts the movement of vehicles around the vehicle and performs evasive maneuvers that take into account not only the risk level on the TTC map, but also unseen vehicles in blind spots on the environmental map. However, surrounding targets, such as obstacles such as pedestrians and other vehicles, do not always move as expected. For example, the technology disclosed in Patent Document 1 does not take into account the avoidance actions of surrounding targets such as pedestrians and other vehicles that are affected by the future actions of the host vehicle, and a future risk map (TTC map) is created based on a specific instantaneous speed vector. In reality, the avoidance actions of surrounding targets that are affected by the future actions of the host vehicle may cause the initially expected avoidance actions of the host vehicle to deviate significantly from the future state. In other words, the technology disclosed in the prior document has a problem in that the host vehicle selects unnecessary avoidance actions depending on the avoidance actions of surrounding targets that are affected by the future actions of the host vehicle.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to obtain a vehicle control device that can suppress unnecessary avoidance actions of the vehicle and improve the efficiency of the avoidance actions by estimating in advance the avoidance actions of surrounding targets that will be affected by the future actions of the vehicle and simulating multiple future vehicle behaviors of the vehicle. [Means for solving the problem]

[0007] The vehicle control device according to the present disclosure includes: a route generation unit that generates a driving route based on detection data including a speed and a position as a driving state of the vehicle; a surrounding object detection unit that detects surrounding objects based on detection data including a camera image of the surroundings as an external environmental state of the vehicle; a vehicle behavior simulation unit that predicts in advance an avoidance operation of the surrounding objects to avoid the host vehicle in association with a future operation of the host vehicle based on outputs from the path generation unit and the surrounding object detection unit, and simulates a plurality of future vehicle behaviors of the host vehicle; a vehicle control unit that determines vehicle control contents including steering and acceleration / deceleration of the host vehicle based on a simulation result by the vehicle behavior simulation unit; It is equipped with the following: Effect of the Invention

[0008] According to the present disclosure, a vehicle control device can be obtained that can suppress unnecessary avoidance actions of the vehicle and improve the efficiency of the avoidance actions by estimating in advance the avoidance actions of surrounding objects that will be affected by the future actions of the vehicle and simulating multiple future vehicle behaviors of the vehicle. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a schematic configuration of a vehicle control device according to a first embodiment. [Diagram 2] FIG. 2 is a schematic diagram for explaining the simulation content of the vehicle control device according to the first embodiment. [Diagram 3] 4 is a flowchart showing a control method of the vehicle control device according to the first embodiment. [Figure 4] FIG. 2 is a schematic diagram for explaining an example of lane change as a simulation content of the vehicle control device according to the first embodiment. [Diagram 5] 5 is a flowchart showing an example of a control method according to FIG. 4. [Figure 6] 5 is a flowchart showing another example of the control method according to FIG. [Figure 7] FIG. 2 is a schematic diagram illustrating an example of traffic congestion cutting-in as a simulation of the vehicle control device according to the first embodiment. [Figure 8] FIG. 2 is a schematic diagram illustrating an example of intersection passing as a simulation of the vehicle control device according to the first embodiment. [Figure 9] FIG. 2 is a schematic diagram for explaining an example of passing through a toll gate as a simulation of the vehicle control device according to the first embodiment. [Figure 10] FIG. 11 is a block diagram showing a schematic configuration of a vehicle control device according to a second embodiment. [Figure 11] 11 is a block diagram showing another schematic configuration of the vehicle control device according to the second embodiment. FIG. [Figure 12] 11 is a flowchart showing the control method according to FIG. 10. [Figure 13]12 is a flowchart showing the control method according to FIG. 11. [Figure 14] FIG. 11 is a block diagram showing a schematic configuration of a vehicle control device according to a third embodiment. [Figure 15] 15 is a flowchart showing the control method according to FIG. 14. [Figure 16] FIG. 11 is a block diagram showing another schematic configuration of the vehicle control device according to the third embodiment. [Figure 17] 17 is a flowchart showing the control method according to FIG. 16. [Figure 18] FIG. 11 is a block diagram showing a schematic configuration of a vehicle control device according to a fourth embodiment. [Figure 19] 19 is a flowchart showing the control method according to FIG. 18. [Figure 20] FIG. 1 is a diagram illustrating an example of a hardware configuration of a vehicle control device according to first to fourth embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the present embodiment will be described with reference to the drawings. In each drawing, the same reference numerals indicate the same or corresponding parts. Note that Figs. 1 to 20 are related to one embodiment, and the present disclosure is not limited to these drawings.

[0011] Embodiment 1 1 is a block diagram showing a schematic configuration of a vehicle control device 100 according to embodiment 1. A route generating unit 10 generates a driving route based on detection data including a speed and a position as a driving state of the vehicle, and generates a driving route by taking in detection data from a group of sensors mounted on the vehicle, a GPS device that detects the driving position of the vehicle, a map data device, and the like. The surrounding object detection unit 20 detects the positions and speeds of surrounding objects that may be obstacles, such as pedestrians and other vehicles, based on detection data including surrounding camera images as the external environmental state of the vehicle, and receives detection data from the camera group and laser radar mounted on the vehicle to detect surrounding objects. Based on the detection data from these sensor groups, cameras, laser radar, etc., and position data from the GPS device and map data device, surrounding objects within the planned route of the travel are detected, and vehicle equipment is controlled to execute an avoidance operation for the surrounding objects that may be obstacles.

[0012] Detectors for detecting the vehicle's driving conditions (not shown) include a vehicle speed sensor for detecting the vehicle speed, a yaw rate sensor for detecting the yaw rate, a steering angle sensor for detecting the steering angle, a throttle opening sensor for detecting the throttle valve opening, etc. Detectors for detecting the external environmental conditions of the vehicle (not shown) include a camera for photographing the front, sides, and rear of the vehicle, a laser radar for detecting obstacles in front of the vehicle, and a weather sensor for detecting the weather, temperature, and humidity. It is to be noted that a millimeter wave radar may be provided in place of or in addition to the laser radar. In addition to the laser radar for detecting the front, the laser radar may be provided with laser radar for detecting the sides and rear.

[0013] Based on the outputs from the route generation unit 10 and the surrounding object detection unit 20, the vehicle behavior simulation unit 30 preliminarily tests or verifies in multiple patterns what strength and direction is appropriate for steering and accelerating / decelerating the vehicle in relation to surrounding objects within the planned driving route, and estimates the avoidance actions that the surrounding objects will take to avoid the vehicle in accordance with the future movements of the vehicle. The details of the simulation based on the first embodiment will be described with reference to the schematic diagram of Fig. 2. It is assumed that a pedestrian 202 is found crossing the road from the right to the left in the driving direction within the planned driving route of the vehicle 201, and another vehicle 203 is approaching in the oncoming lane.

[0014] In the technology disclosed in Patent Document 1, the danger area 204 on the TTC map for the pedestrian 202 and other vehicle 203 is generally estimated as, for example, a dotted ellipse, and an avoidance action is taken along route C. However, if the pedestrian 202 stops crossing and attempts to turn back to the right of the traveling direction of the vehicle 201 due to the approach of the vehicle 201 (future action of the vehicle), the danger area 204 will change, and the route C of the vehicle 201 will be an unnecessary avoidance action. In this case, the vehicle behavior simulation unit 30 according to the present disclosure simulates the vehicle behavior in advance for all drivable routes from route A to route E. The number of drivable routes is changed depending on the situation. In this way, the avoidance actions of surrounding targets associated with the future actions of the vehicle are estimated in advance by multiple patterns of trial or verification, multiple future vehicle behaviors of the vehicle are simulated, and unnecessary avoidance actions of the vehicle are suppressed to select a more efficient avoidance action of the vehicle.

[0015] The vehicle control unit 40 determines the vehicle control contents, including steering and acceleration / deceleration of the host vehicle, based on the future vehicle behavior simulated by the vehicle behavior simulation unit 30. For example, from a plurality of simulation results, the vehicle control unit 40 selects an avoidance operation that is least likely to collide with surrounding targets such as pedestrians and other vehicles. Specifically, the vehicle control contents are determined by selecting the avoidance operation of the host vehicle based on the future vehicle behavior of the host vehicle that has the longest closest distance based on the distance between the host vehicle and the surrounding targets. In the example of the schematic diagram shown in Fig. 2, when the turning back of the pedestrian 202 (avoidance action of the surrounding object) is detected, the route A simulated in advance is selected. Alternatively, the avoidance action of the host vehicle may be selected based on the future vehicle behavior of the host vehicle that minimizes the acceleration / deceleration of the host vehicle within a range where the distance between the host vehicle and the surrounding object does not collide, and the vehicle control content may be determined.

[0016] Here, the vehicle control unit 40 is connected to vehicle devices for controlling at least one of the steering angle, braking force, and driving force of the vehicle to perform avoidance operations for the vehicle against surrounding objects. Although not shown in the figure, the vehicle devices include a general active front and rear wheel steering angle control device for independently controlling the steering angles of the front and rear wheels, a brake hydraulic circuit for controlling braking force by controlling brake hydraulic pressure, and a throttle opening control device for controlling driving force by controlling the opening of a throttle valve. In addition, instead of the active front and rear wheel steering angle control device, a steering angle control device that controls the steering angle of only the front wheels may be used.

[0017] Next, a control method of the vehicle control device 100 according to the first embodiment will be described with reference to the flowchart in Fig. 3. In step S01 (generating a driving route) in Fig. 3, the route generating unit 10 takes in data from a group of sensors that detect the driving state of the vehicle, and generates a driving route for the vehicle based on output data from the GPS device and the map data device. Next, in step S02 (detecting surrounding objects), the surrounding object detection unit 20 acquires data from a group of cameras and a laser radar that detect the external environmental conditions, and detects surrounding objects that may be obstacles based on the vehicle's driving route generated in step S01.

[0018] Furthermore, in step S03 (estimating avoidance actions of surrounding objects and simulating future vehicle behavior), the vehicle behavior simulation unit 30 estimates avoidance actions that surrounding objects such as pedestrians and other vehicles that will be affected by the future behavior of the vehicle will take to avoid the vehicle based on the outputs from steps S01 and S02 by trialing or verifying multiple patterns in advance, and simulates multiple future vehicle behaviors, such as routes that the vehicle can travel. Then, in step S04 (selecting an avoidance action for the vehicle and determining vehicle control contents), the vehicle control unit 40 selects the avoidance action for the vehicle with the lowest possibility of collision from multiple simulation results, determines the vehicle control contents including steering and acceleration / deceleration of the vehicle, and performs operation on the vehicle equipment.

[0019] In the following, the simulation contents of the vehicle control device 100 according to the first embodiment will be described with reference to schematic diagrams, taking lane changing, cutting in at a traffic jam, passing through an intersection, and passing through a toll gate as examples. 4 is a schematic diagram illustrating lane changes, assuming a case where a host vehicle 201 in a right-hand lane changes lanes to the left lane (including merging and splitting) while multiple other vehicles 203 are traveling in the left lane. The vehicle control device 100 according to the first embodiment estimates in advance by trial or verification of multiple patterns what position and timing the host vehicle 201 should enter in the vehicle line to avoid a collision, and how to approach the other vehicles 203 so that they will leave a gap even if the gap between them is narrow, and makes a judgment after simulating multiple future vehicle behaviors of the host vehicle, thereby making it possible to perform lane changes more efficiently.

[0020] Here, the flow chart of the control method for lane change can be configured as shown in FIG. 5 or FIG. 6, for example, and instead of the process of step S04 shown in FIG. 3, the process of step S041 or step S042 is executed. In step S041, the vehicle control content is determined based on the future vehicle behavior of the host vehicle 201 that will maximize the closest approach distance between the host vehicle 201 and the other vehicle 203, based on the distance between the host vehicle 201 and the other vehicle 203. Alternatively, in step S042, the vehicle control content is determined based on the future vehicle behavior that will minimize the acceleration / deceleration of the host vehicle 201, based on the acceleration / deceleration of the host vehicle 201, within a range where the distance between the host vehicle 201 and the other vehicle 203 does not collide. If the acceleration / deceleration of the host vehicle 201 is minimized, it is possible to select a control method that provides good fuel economy and a comfortable ride.

[0021] 7 is a schematic diagram illustrating an example of cutting in due to a traffic jam, and assumes a case where a vehicle 201 on the right diagonal line cuts in to the left lane when many other vehicles 203 are jammed in the left lane. The vehicle control device 100 according to the first embodiment estimates in advance by trial or verification of a plurality of patterns what position and timing the vehicle 201 should enter in the line of vehicles to avoid a collision, and how the vehicle should cut in slightly to make the other vehicles 203 leave a gap even if the gap between the other vehicles 203 is narrow, and makes a judgment after simulating a plurality of future vehicle behaviors of the vehicle, so that cutting in due to a traffic jam can be performed more efficiently. A specific control method is the same as that illustrated in FIG. 5.

[0022] FIG. 8 is a schematic diagram illustrating the passage of an intersection. It is assumed that the host vehicle 201 and another vehicle 203 in the oncoming lane approach an intersection 205, and the host vehicle 201 wants to go straight, but the other vehicle 203 is turning right. In the technology disclosed in Patent Document 1, the host vehicle 201 selects to stop for an avoidance operation, but the vehicle control device 100 according to the first embodiment estimates the avoidance operation of the other vehicle 203 that is affected by the future operation of the host vehicle 201, such as when the host vehicle 201 goes straight without stopping, when it stops, when it decelerates, etc., by trying or verifying these patterns in advance, and simulates multiple future vehicle behaviors of the host vehicle 201. From the simulation results, the avoidance operation with the lowest possibility of collision is selected, and the vehicle control content including the steering and acceleration / deceleration of the host vehicle is determined, and the operation is performed on the vehicle equipment. Since multiple future vehicle behaviors of the host vehicle are simulated before making a judgment, the intersection can be passed more efficiently.

[0023] 9 is a schematic diagram illustrating passing through a toll gate, and assumes a case in which the vehicle 201 is about to pass through a toll gate 206 among multiple other vehicles 203. When the vehicle 201 approaches a toll gate 206 where multiple fare adjustment machines are installed, the vehicle control device 100 according to the first embodiment estimates in advance by trial or verification of multiple patterns which line the vehicle 201 should line up in at the toll gate 206 and the optimal timing to change lanes to reach the target fare adjustment machine, and makes a judgment after simulating multiple future vehicle behaviors of the vehicle, thereby enabling the vehicle 201 to pass through the toll gate more efficiently. The vehicle control device 100 according to the first embodiment has been described using a number of example cases. According to the present disclosure, the avoidance actions of surrounding targets that will be affected by the future actions of the vehicle are estimated in advance by trial or verification of a number of patterns, and a number of future vehicle behaviors of the vehicle are simulated beforehand, after which the avoidance action of the vehicle is selected. As a result, it is possible to suppress unnecessary avoidance actions of the vehicle and realize more efficient avoidance actions.

[0024] Embodiment 2 Hereinafter, the second embodiment will be described with reference to Figs. 10 to 13, focusing on the differences from the first embodiment. In Figs. 10 and 11, the vehicle control devices 101 and 102 are provided with communication units 50A and 50B for performing data communication with the outside of the vehicle. The communication unit 50A in Fig. 10 performs vehicle-to-vehicle communication and road-to-vehicle communication, and receives detection data of an external environmental state including another vehicle from the other vehicle through the vehicle-to-vehicle communication, and receives detection data of an external environmental state from an infrastructure system such as a roadside unit equipped with a camera or various sensors or an artificial satellite through the road-to-vehicle communication. The surrounding object detection unit 20 receives detection data on the external environmental conditions of the vehicle via the communication unit 50A, and detects the positions and speeds of surrounding objects, such as pedestrians and other vehicles. According to the vehicle control device 101 according to the second embodiment, blind spots in the sensor group of the vehicle can be resolved by utilizing the detection data of the external environmental state from outside the vehicle. In addition, the price of the vehicle can be reduced by simplifying the sensor group mounted on the vehicle.

[0025] 11 performs data communication with a personal computer or the like outside the vehicle via vehicle-to-vehicle communication, Internet connection, etc., and is used when using a personal computer or the like outside the vehicle to execute the functions of the vehicle behavior simulation unit 30. Depending on the load status of the vehicle behavior simulation unit 30, each output from the route generation unit 10 and the surrounding object detection unit 20 is transmitted to the personal computer outside the vehicle via the communication unit 50B, and multiple simulation results performed outside the vehicle are received via the communication unit 50B. Although the functions of the vehicle behavior simulator 30 are performed by the personal computer outside the vehicle, the personal computer may also perform the functions of the vehicle control unit 40. According to the vehicle control device 102 according to the second embodiment, the functions of the vehicle behavior simulator 30 are performed outside the vehicle as necessary, thereby reducing the functions of the vehicle behavior simulator 30 and reducing the manufacturing cost of the vehicle control device 102.

[0026] Next, a control method of the vehicle control device 101, 102 according to the second embodiment will be described with reference to the flowcharts of Fig. 12 and Fig. 13. The processing procedure of Fig. 12 and Fig. 13 is basically the same as the control method of the vehicle control device 100 according to the first embodiment shown in Fig. 3, but when the communication unit 50A shown in Fig. 10 is used, the processing of step S021 shown in Fig. 12 is executed instead of the processing of step S02 shown in Fig. 3. In step S021, the surrounding object detection unit 20 takes in data of detected external environmental conditions by vehicle-to-vehicle communication, road-to-vehicle communication, etc. via the communication unit 50A, and detects information of surrounding objects based on the traveling route of the host vehicle generated in step S01.

[0027] In addition, when the communication unit 50B shown in FIG. 11 is used, the process of step S031 shown in FIG. 13 is executed instead of the process of step S03 shown in FIG. 3. In step S031, the data from steps S01 and S02 are sent to a personal computer outside the vehicle via the communication unit 50B by vehicle-to-vehicle communication, Internet connection, or the like. Then, the avoidance operation of surrounding targets such as pedestrians and other vehicles that are affected by the future operation of the vehicle is estimated in advance by trial or verification of multiple patterns, and multiple future vehicle behaviors of the vehicle are simulated. The simulation results are input to the vehicle via the communication unit 50B, and step S04 is executed.

[0028] Embodiment 3 Hereinafter, the third embodiment will be described with reference to Figs. 14 to 17, focusing on the parts different from the first embodiment. In Fig. 14, the vehicle control device 103 is provided with an autonomous driving feasibility determination unit 60. The autonomous driving feasibility determination unit 60 determines whether autonomous driving along a plurality of drivable routes (hereinafter referred to as target routes) can be continued, based on the simulation results of future vehicle behavior obtained from the vehicle behavior simulation unit 30. The following description will be given assuming the case of lane changing illustrated in Fig. 4. The vehicle 201 sets a target route to lane changes (including merging and diverging) until it reaches a specific point. In this case, even if multiple vehicle behavior simulations are tried, if it is found that the driving environment conditions (ODD: Operation Design Domain) of the autonomous driving system of the vehicle 201 are not satisfied in order to achieve the target route due to the situation of surrounding vehicles, the initial target route is changed and autonomous driving on the current route is continued.

[0029] Next, a control method of the vehicle control device 103 according to the third embodiment will be described with reference to the flowchart in Fig. 15. The processing procedure in Fig. 15 is basically similar to the control method of the vehicle control device 100 according to the first embodiment shown in Fig. 3, but when the autonomous driving feasibility determination unit 60 shown in Fig. 14 is provided, the processing of steps S032 and S034 shown in Fig. 15 is executed between the processing of steps S03 and S04 shown in Fig. 3. In step S032, the autonomous driving feasibility determination unit 60 determines whether autonomous driving along the original target route can be continued based on the ODD based on the simulation results of the future vehicle behavior in step S03. If it is determined that autonomous driving can be continued, the process proceeds to step S04, and if it is determined that autonomous driving cannot be continued, the process proceeds to step S034. In step S034, the route generation unit 10 searches for candidates for driving routes that can be autonomously driven, and the process returns to step S02.

[0030] Although the example of lane change (including merging and splitting) as the target route has been described, the same applies to examples of target routes such as cutting in at a traffic jam, passing through an intersection, passing through a toll gate, etc. According to the vehicle control device 103 according to the third embodiment, it is possible to redraw a driving route that allows autonomous driving to continue when it is difficult to continue autonomous driving on the original target route, taking into account future surrounding conditions. Furthermore, Fig. 16 is a block diagram showing another schematic configuration of the vehicle control device 104 according to embodiment 3. In Fig. 16, the vehicle control device 104 is provided with, in addition to the autonomous driving feasibility determination unit 60, a driving switching unit 70 that switches the driving of the host vehicle from autonomous driving to manual driving based on the determination result of the autonomous driving feasibility determination unit 60, and a warning device 80 that issues a warning to the driver based on the switching of the driving switching unit 70.

[0031] Next, the control method of the vehicle control device 104 shown in Fig. 16 will be described with reference to the flowchart of Fig. 17. The processing procedure of Fig. 17 is basically the same as the processing procedure shown in Fig. 15, but when the operation switching unit 70 shown in Fig. 16 is provided, the processing of step S033 shown in Fig. 17 is performed between the processing of step S032 and step S034 shown in Fig. 15, and the processing of step S034 or step S035 is selected. In step S033, when the driving switching unit 70 receives the determination result in step S032 that it is impossible to continue automatic driving, it determines whether or not there is still a drivable route that can be used as a route candidate, and if it determines that there is a drivable route, it proceeds to the above-mentioned step S034 and searches for candidate driving routes that can be automatically driven.

[0032] If it is determined in step S033 that there is no drivable route, the process proceeds to step S035, in which the driving switching unit 70 switches the driving mode from automatic driving to manual driving, and in conjunction with the switching of the driving mode, the warning device 80 issues a warning to the driver. According to the configuration of the vehicle control device 104 of the third embodiment, when it becomes clear that it is not possible to continue autonomous driving by changing the initial target route, the vehicle can be switched to manual driving, thereby making it possible to make the switching decision earlier and easily set the switching point. It can also be used as a means of understanding from what point it is possible to switch from manual to automatic driving. When switching the driving mode, the method of warning the driver may be a single function or a combination of functions such as sound, light, vibration, or display on a monitor screen.

[0033] Embodiment 4 Hereinafter, the fourth embodiment will be described with reference to Figs. 18 and 19, focusing on the differences from the first embodiment. In Fig. 18, a vehicle control device 105 is provided with a driving state storage unit 90. The driving state storage unit 90 records the outputs from the route generation unit 10, the surrounding object detection unit 20, and the vehicle behavior simulation unit 30, and determines whether the current driving route and surrounding objects have been recorded in the past. The following description will be given assuming a lane change as exemplified in Fig. 4. When the vehicle 201 performs a lane change (including merging / diverging), the current driving route and surrounding objects, as well as the simulation results from the vehicle behavior simulation unit 30 based on these outputs, are recorded in the driving state accumulation unit 90. The next time a similar situation occurs, such as a lane change, the simulation results of the vehicle behavior retrieved from the driving state storage unit 90 are used, thereby reducing the calculation load that the vehicle behavior simulation unit 30 must perform each time.

[0034] Next, a control method of the vehicle control device 105 according to the fourth embodiment will be described with reference to a flowchart in Fig. 19. The processing procedure in Fig. 19 is basically similar to the control method of the vehicle control device 100 according to the first embodiment shown in Fig. 3, but when the traveling state accumulation unit 90 shown in Fig. 18 is provided, the processing of steps S022 and S023 shown in Fig. 19 is executed between the processing of steps S02 and S03 shown in Fig. 3. Furthermore, instead of the processing of step S04 shown in Fig. 3, the processing of step S043 shown in Fig. 19 is executed. In step S022, the traveling state storage unit 90 judges whether the current traveling route and the surrounding objects have been recorded in the past. If the traveling route and the surrounding objects have not been recorded, the traveling route and the surrounding objects are regarded as new traveling routes and the process proceeds to step S03. On the other hand, if the current traveling route and the surrounding objects have been recorded, the process proceeds to step S023.

[0035] In step S023, the traveling condition accumulation unit 90 extracts an estimated simulation result based on the recorded traveling route and surrounding objects, and proceeds to step S043. In step S043, if the process continues from step S023, a process similar to step S04 shown in FIG. 3 is executed, and if the process continues from step S03, a process similar to step S04 is executed and the simulation result from step S03 is recorded in the traveling condition accumulation unit 90. Although the above describes an example in which a lane change (including merging and splitting) is the target route, the same applies to examples in which a target route is to cut in at a traffic jam, pass through an intersection, pass through a toll gate, etc. According to the vehicle control device 105 of the fourth embodiment, when a similar situation such as the next lane change is encountered, the simulation result of the vehicle behavior extracted from the traveling state accumulation unit 90 is used, thereby making it possible to reduce the calculation load that the vehicle behavior simulation unit 30 executes each time.

[0036] Although the first to fourth embodiments have been described above using block diagrams, flowcharts, and schematic diagrams, the vehicle control devices 100 to 105 according to each embodiment can be realized as a computer having a hardware configuration including at least one processor 301 and a storage device 302, as shown in Fig. 20. The storage device 302 includes a volatile storage device 303 such as a random access memory, and a non-volatile auxiliary storage device 304 such as a flash memory. Instead of the flash memory, an auxiliary storage device 304 such as a hard disk may be provided. The program may be in a form that is recorded in the storage device 302 in advance, or in a form that is downloaded to the storage device 302 from an external source via a network.

[0037] The computer also includes an input / output interface 305 and a communication interface 306, and although not shown in the figure, performs input and output of various data between a detector that detects the vehicle's driving state, a detector that detects the vehicle's external environmental state, vehicle equipment that performs steering and acceleration / deceleration of the vehicle, and other equipment outside the vehicle, such as a server, a personal computer, etc. The processor 301 executes a plurality of programs input from the storage device 302. Each program is created based on the flowcharts shown in Figures 3, 5, 6, 12, 13, 15, 17, and 19. In this case, the programs are input from the auxiliary storage device 304 to the processor 301 via the volatile storage device 303. The processor 301 outputs data such as calculation results to the volatile storage device 303 of the storage device 302, but the data may also be stored in the auxiliary storage device 304 via the volatile storage device 303.

[0038] Although the present disclosure describes various exemplary embodiments and examples, the various features, aspects, and functions described in one or more embodiments are not limited to application to a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless modifications not exemplified are assumed within the scope of the technology disclosed in this specification, including, for example, modifying, adding, or omitting at least one component, and further, extracting at least one component and combining it with a component of another embodiment. Various aspects of the present disclosure are summarized below as appendices.

[0039] (Appendix 1) a route generation unit that generates a driving route based on detection data including a speed and a position as a driving state of the vehicle; a surrounding object detection unit that detects surrounding objects based on detection data including a camera image of the surroundings as an external environmental state of the vehicle; a vehicle behavior simulation unit that predicts in advance an avoidance operation of the surrounding objects to avoid the host vehicle in association with a future operation of the host vehicle based on outputs from the path generation unit and the surrounding object detection unit, and simulates a plurality of future vehicle behaviors of the host vehicle; a vehicle control unit that determines vehicle control contents including steering and acceleration / deceleration of the host vehicle based on a simulation result by the vehicle behavior simulation unit; A vehicle control device comprising: (Appendix 2) 2. The vehicle control device according to claim 1, wherein the vehicle behavior simulation unit estimates the avoidance operation of the surrounding object by trial or verification of a plurality of patterns in advance. (Appendix 3) The vehicle control device according to claim 1 or 2, characterized in that the vehicle control unit selects a future vehicle behavior of the host vehicle that has the longest closest approach distance based on a distance between the host vehicle and the surrounding target from a simulation result of the vehicle behavior simulation unit, and determines a control content of the vehicle. (Appendix 4) The vehicle control device according to claim 1 or 2, characterized in that the vehicle control unit selects a future vehicle behavior of the host vehicle that minimizes the acceleration / deceleration of the host vehicle based on the acceleration / deceleration within a collision avoidance distance between the host vehicle and the surrounding object, based on the simulation result of the vehicle behavior simulation unit, and determines the control content of the vehicle. (Appendix 5) A communication unit that communicates with an outside of the vehicle, The vehicle control device according to any one of Supplementary Note 1 to Supplementary Note 4, wherein the surrounding object detection unit acquires the detection data of the external environmental state via the communication unit. (Appendix 6) A communication unit that communicates with an outside of the vehicle, The vehicle control device according to any one of Supplementary Note 1 to Supplementary Note 5, wherein the vehicle behavior simulation unit sends outputs from the path generation unit and the surrounding object detection unit to the outside of the vehicle via the communication unit, and imports a simulation result of a future vehicle behavior of the vehicle into the vehicle. (Appendix 7) an autonomous driving feasibility determination unit that determines whether autonomous driving along a plurality of driving routes can be continued based on a simulation result by the vehicle behavior simulation unit; 7. The vehicle control device according to claim 1, wherein the route generated by the route generating unit is changed based on a determination result of the autonomous driving feasibility determination unit. (Appendix 8) A vehicle control device as described in Appendix 7, characterized in that it is equipped with a driving switching unit that switches from automatic driving to manual driving when it is impossible to continue automatic driving on all driving routes generated by the route generation unit based on the judgment result of the automatic driving feasibility judgment unit. (Appendix 9) 9. The vehicle control device according to claim 8, further comprising a warning device that issues a warning inside the vehicle when the driving switching unit switches from automatic driving to manual driving. (Appendix 10) a driving state storage unit that records the outputs from the route generation unit, the surrounding object detection unit, and the vehicle behavior simulation unit and determines whether the current driving route and the surrounding objects have been recorded; The vehicle control device according to any one of Supplementary Note 1 to Supplementary Note 9, characterized in that, if the driving route and the surrounding objects have been recorded, the vehicle control unit determines a control content of the vehicle based on a simulation result of the driving route and the surrounding objects recorded in the driving state accumulation unit. (Appendix 11) A vehicle control device comprising a processor and a storage device, the processor executing a program in the storage device to control traveling of a vehicle, The processor, A first means for generating a driving route based on detection data including a speed and a position as a driving state of the vehicle; A second means for detecting surrounding objects based on detection data including a camera image of the surroundings as an external environmental state of the vehicle; a third means for predicting in advance an avoidance operation of the surrounding object to avoid the host vehicle in accordance with a future operation of the host vehicle based on outputs from the first and second means, and simulating a plurality of future vehicle behaviors of the host vehicle; a vehicle control device which functions as a fourth means for determining vehicle control contents including steering and acceleration / deceleration of the host vehicle based on a result of simulation by the third means. (Appendix 12) A vehicle control method for controlling driving of a vehicle, comprising: A first step of generating a driving route based on detection data including a speed and a position as a driving state of the vehicle; A second step of detecting surrounding objects based on detection data including a camera image of the surroundings as an external environmental state of the vehicle; a third step of predicting in advance an avoidance operation of the surrounding object to avoid the host vehicle in accordance with a future operation of the host vehicle based on outputs from the first and second steps, and simulating a plurality of future vehicle behaviors of the host vehicle; a fourth step of determining vehicle control contents including steering and acceleration / deceleration of the host vehicle based on a result of the simulation by the third step; A vehicle control method comprising: (Appendix 13) The third step estimates an avoidance operation of the surrounding target by trial or verification of a plurality of patterns in advance; the fourth step is to select a future vehicle behavior of the host vehicle that minimizes a possibility of a collision based on a distance between the host vehicle and the surrounding object or an acceleration / deceleration of the host vehicle. 13. A vehicle control method according to claim 12. (Appendix 14) A vehicle control program for controlling driving of a vehicle, On the computer, A first process of generating a driving route based on detection data including a speed and a position as a driving state of the vehicle; A second process of detecting surrounding objects based on detection data including a camera image of the surroundings as an external environmental state of the vehicle; a third process of predicting in advance an avoidance operation of the surrounding object to avoid the host vehicle in accordance with a future operation of the host vehicle based on outputs from the first and second processes, and simulating a plurality of future vehicle behaviors of the host vehicle; and a fourth process of determining vehicle control contents including steering and acceleration / deceleration of the host vehicle based on a simulation result of the third process. A vehicle control program comprising: (Appendix 15) The third process estimates an avoidance operation of the surrounding target by trial or verification of a plurality of patterns in advance; the fourth process selects a future vehicle behavior of the host vehicle that minimizes a possibility of a collision based on a distance between the host vehicle and the surrounding object or an acceleration / deceleration of the host vehicle. 15. A vehicle control program according to claim 14. [Explanation of symbols]

[0040] 100-105: vehicle control device, 10: route generation unit, 20: surrounding object detection unit, 30: vehicle behavior simulation unit, 40: vehicle control unit, 50A, 50B: communication unit, 60: autonomous driving feasibility determination unit, 70: driving switching unit, 80: warning device, 90: driving state accumulation unit, 201: vehicle, 202: pedestrian, 203: other vehicle, 204: danger area, 205: intersection, 206: toll booth, 301: processor, 302: storage device, 303: volatile storage device, 304: auxiliary storage device, 305: input / output interface, 306: communication interface, A-E: route, S01-S04, S021-S023, S031-S035, S041-S043: steps.

Claims

1. a route generation unit that generates a driving route based on detection data including a speed and a position as a driving state of the vehicle; a surrounding object detection unit that detects surrounding objects based on detection data including a camera image of the surroundings as an external environmental state of the vehicle; a vehicle behavior simulation unit that predicts in advance an avoidance operation of the surrounding objects to avoid the host vehicle in association with a future operation of the host vehicle based on outputs from the path generation unit and the surrounding object detection unit, and simulates a plurality of future vehicle behaviors of the host vehicle; a vehicle control unit that determines vehicle control contents including steering and acceleration / deceleration of the host vehicle based on a simulation result by the vehicle behavior simulation unit; A vehicle control device comprising:

2. 2. The vehicle control device according to claim 1, wherein the vehicle behavior simulation unit estimates the avoidance operation for the surrounding object by performing trials or verifications of a plurality of patterns in advance.

3. 2. The vehicle control device according to claim 1, wherein the vehicle control unit selects a future vehicle behavior of the host vehicle that has the longest closest approach distance based on a distance between the host vehicle and the surrounding object from a simulation result of the vehicle behavior simulation unit, and determines a control content of the vehicle.

4. 2. The vehicle control device according to claim 1, wherein the vehicle control unit selects a future vehicle behavior of the host vehicle that minimizes the acceleration / deceleration of the host vehicle based on the acceleration / deceleration within a collision avoidance distance between the host vehicle and the surrounding object based on the simulation result of the vehicle behavior simulation unit, and determines the control content of the vehicle.

5. A communication unit that communicates with an outside of the vehicle, The vehicle control device according to claim 1 , wherein the surrounding object detection unit receives the detection data of the external environmental condition via the communication unit.

6. A communication unit that communicates with an outside of the vehicle, 2. The vehicle control device according to claim 1, wherein the vehicle behavior simulation unit sends outputs from the route generation unit and the surrounding object detection unit to the outside of the vehicle via the communication unit, and imports simulation results of future vehicle behavior of the vehicle into the vehicle.

7. an autonomous driving feasibility determination unit that determines whether autonomous driving along a plurality of driving routes can be continued based on a simulation result by the vehicle behavior simulation unit; The vehicle control device according to claim 1, characterized in that the driving route generated by the route generation unit is changed based on a determination result of the autonomous driving feasibility determination unit.

8. The vehicle control device according to claim 7, further comprising a driving switching unit that switches from automatic driving to manual driving when it is impossible to continue automatic driving on all driving routes generated by the route generating unit based on the judgment result of the automatic driving feasibility judgment unit.

9. 9. The vehicle control device according to claim 8, further comprising a warning device that issues a warning inside the vehicle when the driving mode switching unit switches from automatic driving to manual driving.

10. a driving state storage unit that records the outputs from the route generation unit, the surrounding object detection unit, and the vehicle behavior simulation unit and determines whether the current driving route and the surrounding objects have been recorded; 2. The vehicle control device according to claim 1, wherein, if the driving route and the surrounding objects have been recorded, the vehicle control unit determines the control content of the vehicle based on a simulation result of the driving route and the surrounding objects recorded in the driving state accumulation unit.

11. A vehicle control device comprising a processor and a storage device, the processor executing a program in the storage device to control traveling of a vehicle, The processor, A first means for generating a driving route based on detection data including a speed and a position as a driving state of the vehicle; A second means for detecting surrounding objects based on detection data including a camera image of the surroundings as an external environmental state of the vehicle; a third means for predicting in advance an avoidance operation of the surrounding object to avoid the host vehicle in accordance with a future operation of the host vehicle based on outputs from the first and second means, and simulating a plurality of future vehicle behaviors of the host vehicle; a vehicle control device which functions as a fourth means for determining vehicle control contents including steering and acceleration / deceleration of the host vehicle based on a result of simulation by the third means.

12. A vehicle control method for controlling driving of a vehicle, comprising: A first step of generating a driving route based on detection data including a speed and a position as a driving state of the vehicle; A second step of detecting surrounding objects based on detection data including a camera image of the surroundings as an external environmental state of the vehicle; a third step of predicting in advance an avoidance operation of the surrounding object to avoid the host vehicle in accordance with a future operation of the host vehicle based on outputs from the first and second steps, and simulating a plurality of future vehicle behaviors of the host vehicle; a fourth step of determining vehicle control contents including steering and acceleration / deceleration of the host vehicle based on a result of the simulation by the third step; A vehicle control method comprising:

13. The third step estimates an avoidance operation of the surrounding target by trial or verification of a plurality of patterns in advance; the fourth step is to select a future vehicle behavior of the host vehicle that minimizes a possibility of a collision based on a distance between the host vehicle and the surrounding object or an acceleration / deceleration of the host vehicle. The vehicle control method according to claim 12 .

14. A vehicle control program for controlling driving of a vehicle, On the computer, A first process of generating a driving route based on detection data including a speed and a position as a driving state of the vehicle; A second process of detecting surrounding objects based on detection data including a camera image of the surroundings as an external environmental state of the vehicle; a third process of predicting in advance an avoidance operation of the surrounding object to avoid the host vehicle in accordance with a future operation of the host vehicle based on outputs from the first and second processes, and simulating a plurality of future vehicle behaviors of the host vehicle; and a fourth process of determining vehicle control contents including steering and acceleration / deceleration of the host vehicle based on a simulation result of the third process. A vehicle control program comprising:

15. The third process estimates an avoidance operation of the surrounding target by trial or verification of a plurality of patterns in advance; the fourth process selects a future vehicle behavior of the host vehicle that minimizes a possibility of a collision based on a distance between the host vehicle and the surrounding object or an acceleration / deceleration of the host vehicle.

15. The vehicle control program according to claim 14.

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